cmake_minimum_required(VERSION 3.5)
project(planning)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(OpenCV REQUIRED)

include_directories(include
  ${OpneCV_INCLUDE_DIRS}
)

add_executable(${PROJECT_NAME} src/planning_node.cpp)

ament_target_dependencies(
  ${PROJECT_NAME} 
  rclcpp 
  std_msgs 
  nav_msgs 
  rclcpp_action 
  geometry_msgs 
  sensor_msgs
)

target_link_libraries(
  ${PROJECT_NAME} 
  ${OpenCV_LIBRARIES}
  -lpthread
)

install(TARGETS
  ${PROJECT_NAME}
  DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY 
  launch 
  DESTINATION 
  share/${PROJECT_NAME}/
)

ament_package()
